You can place the baby over your shoulder and tap on the baby's back. The bones of your shoulder can be too hard for your baby's delicate skin. To alleviate that, you can throw a towel over your shoulder to act as cushion. Position the baby over your shoulder and support the baby's bottom with your hand. Now use the other hand to tap the baby's back. Keep tapping and patting until you elicit a burp from the baby. This can sometimes take a while and you may need to readjust the baby's positioning on your shoulder.
If you cannot elicit a burp with the baby over your shoulder, try moving baby to your lap. Position the baby on your lap securely. Use one hand on the baby's chest to support the infant. You can stretch your fingers under your infant's chin to keep her head steady. Now use your other hand to rub the baby's back in circles or pat and tap the baby's back until you get a burp.
If this does not work, try using the belly position. Use a soft towel for cushion on your lap. Put your infant on their belly so that their head is stabilized by your leg and their stomach is stretch across your other leg. Now pat or tap baby's back or rub circles on his back. Keep repeating this action until you get a burp from your baby.
Making sure your baby burps after each feeding is critical to overall health. If your baby is breastfeeding, then you can stop and burp each time you rotate breasts. If your baby takes a bottle, do not wait until the bottle is empty to burp. Elicit a burp after baby has consumed a few ounces.
Once the baby can sit up alone, then they can burp themselves. They will no longer need your help. Their stomach muscles are developed enough to manage this. But until then, it's your job to help baby expel the trapped gas in their tummy.